Substrate Transport Vacuum Platform

ABSTRACT

An apparatus including a first device configured to support at least one substrate thereon; and a first transport having the device connected thereto. The transport is configured to carry the device. The transport includes a plurality of supports which are movable relative to one another along a linear path; at least one magnetic bearing which at least partially couples the supports to one another. A first one of the magnetic bearings includes a first permanent magnet and a second magnet. The first permanent magnet is connected to a first one of the supports. A magnetic field adjuster is connected to the first support which is configured to move the first permanent magnet and/or vary influence of a magnetic field of the first permanent magnet relative to the second magnet.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of co-pending applicationSer. No. 16/214,773 filed Dec. 10, 2018, which is a divisionalapplication of application Ser. No. 14/601,455 filed Jan. 21, 2015, nowU.S. Pat. No. 10,269,604, which claims priority under 35 USC 119(e) onProvisional Patent Application No. 61/929,536 filed Jan. 21, 2014 whichare hereby incorporated by reference in their entireties.

BACKGROUND Technical Field

The exemplary and non-limiting embodiments relate generally to a systemfor transporting substrates and, more particularly, to a system fortransporting substrates, in vacuum, having a linear configuration.

Brief Description of Prior Developments

Substrate processing systems for semiconductor, LED or other suitableapplications may involve the transport of substrates in a vacuum orother suitable environment. In the applications requiring vacuumtransport there are platform architectures that involve the use ofsingle or alternately the use of tandem or quad process modules. Singleprocess modules may have a single processing location, whereas tandem orquad process modules may have two processing locations where twosubstrates may be processed next to each other and picked or placed by avacuum robot at the same time. The process modules are typicallyarranged in a radial arrangement on a vacuum chamber having a robot thattransfers substrates between the process modules and load locks. Aproblem arises in the use of process modules where a large number ofmodules are provided. A large radial transport chamber is required totransport the substrates to and from load locks, and to and from the oneor more modules, requiring a large footprint or floor space. Withfootprint cost at a premium within a micro-electronics fabricationenvironment, there is a desire for a substrate transport platform with areduced footprint.

SUMMARY

In accordance with one aspect of the exemplary embodiment, an apparatusis provided comprising a first device configured to support at least onesubstrate thereon; and a first transport having the device connectedthereto, where the transport is configured to carry the device, wherethe transport comprises: a plurality of supports which are movablerelative to one another along a linear path; at least one magneticbearing which at least partially couples the supports to one another,where a first one of the magnetic bearings comprises a first permanentmagnet and a second magnet, where the first permanent magnet isconnected to a first one of the supports; and a magnetic field adjusterconnected to the first support which is configured to move the firstpermanent magnet and/or vary influence of a magnetic field of the firstpermanent magnet relative to the second magnet.

In accordance with another aspect of the exemplary embodiment, anapparatus is provided comprising a device configured to support at leastone substrate thereon; and a transport having the device connectedthereto, where the transport is configured to carry the device, wherethe transport comprises: a first support comprising a first capacitiveinterface; and a second support comprising a second capacitiveinterface, where the second support is movably connected to the firstsupport along a linear path, and where the first and second capacitiveinterfaces are sized, shaped and located relative to each other toprovide a non-contacting capacitive power coupling and to allow heattransfer between the first and second capacitive interfaces.

In accordance with another aspect of the exemplary embodiment, anapparatus is provided comprising a device configured to support at leastone substrate thereon; and a transport having the device connectedthereto, where the transport is configured to carry the device, wherethe transport comprises: a plurality of supports which are movablerelative to one another along a linear path, where a first one of thesupports comprises a heat radiator thereon; a first magnetic bearingwhich at least partially couples the supports, where the first magneticbearing is a non-contacting bearing; a first power coupling between thesupports, where the first power coupling is a non-contacting powercoupling; and a first heat pump connected to the first support, where atleast one of the first magnetic bearing and the first power couplingcomprise at least one active heat generating component, and where thefirst heat pump is configured to pump heat from the at least one activeheat generating component to the heat radiator.

In accordance with another aspect an example method comprises coupling afirst support to a second support comprising a magnetic bearing, wherethe first support is movable relative to the second support along alinear path without the first support contacting the second support,where the magnetic bearing comprises a permanent magnet on the firstsupport; locating a magnetic field adjuster on the first support, wherethe magnetic field adjuster is configured to move the first permanentmagnet and/or vary influence of a magnetic field of the first permanentmagnet relative to a second magnet of the magnetic bearing; andconnecting a first device to the first or second support, where thesupports are configured to move the device, where the first device isconfigured to support at least one substrate thereon during movement ofthe first device.

In accordance with another aspect an example method comprises providinga transport comprising: a first support comprising a first capacitiveinterface; and a second support comprising a second capacitiveinterface, where the second support is movably connected to the firstsupport along a linear path, and where the first and second capacitiveinterfaces are sized, shaped and located relative to each other toprovide a non-contacting capacitive power coupling and to allow heattransfer between the first and second capacitive interfaces; andconnecting a device to the transport, where the device is configured tosupport at least one substrate thereon while the device is moved by thetransport, where the transport is configured to move the device tothereby move the at least one substrate.

In accordance with another aspect, an example embodiment is provided ina non-transitory program storage device readable by a machine, tangiblyembodying a program of instructions executable by the machine forperforming operations, the operations comprising: determining a distancebetween a first support and a second support in a transporter, where afirst device configured to support at least one substrate thereon isconnected to the first support, where the supports are movable relativeto one another along a linear path, where the first and second supportsare coupled to each other by a magnetic bearing, where the magneticbearing comprises a first permanent magnet and a second magnet, wherethe first permanent magnet is connected to the first support, where thetransporter comprises a magnetic field adjuster connected to the firstsupport which is configured to move the first permanent magnet and/orvary influence of a magnetic field of the first permanent magnetrelative to the second magnet, where the transporter comprises a deviceconnected thereto, and controlling the magnetic field adjuster tosubstantially maintain the distance between the first and secondsupports.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing aspects and other features are explained in the followingdescription, taken in connection with the accompanying drawings,wherein:

FIG. 1 is a top view of an example substrate transport platform;

FIG. 2 is a top view of an example substrate transport platform;

FIG. 3 is a schematic section view of an example substrate transportplatform;

FIG. 4 is a partial schematic section view of an example substratetransport platform;

FIG. 5 is a schematic section view of an example substrate transportplatform;

FIG. 6 is a schematic section view of an example substrate transportplatform;

FIG. 7 is a diagram of a power coupling;

FIG. 8 is a diagram of a power coupling;

FIG. 9 is a diagram of an example substrate transport platform;

FIG. 10 is a diagram of a heat pump;

FIG. 11 is a pressure versus heat transfer percentage graph;

FIG. 12 is a diagram of a communication coupling;

FIG. 13 is a diagram of a power coupling;

FIG. 14 is a diagram of a power coupling;

FIG. 15 is a diagram of a control algorithm;

FIG. 16 is a partial section of a drive portion;

FIG. 17 is a partial section of a drive portion;

FIG. 18 is a partial section of a drive portion; and

FIG. 19 is a partial section of a drive portion.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

Referring to FIG. 1, there is shown a schematic top plan view of anexample substrate transport system and robot 100. Although features willbe described with reference to the example embodiments shown in thedrawings, it should be understood that the present invention may beembodied in many forms of alternative embodiments. In addition, anysuitable size, shape or type of materials or elements could be used.

The disclosed example embodiment relates to vacuum processing andtransport systems for use in the manufacture of semiconductors or othersuitable devices. The transport systems shown are directed to systemswith rectangular transport chambers but in alternate aspects, theautomation may be directed to any suitable system, linear, radial orcombinations thereof. Different approaches are considered includingproviding one or more linear driven substrate supports, one or morelinear driven robots and linear driven robots with no or partial serviceloop. The disclosed are merely exemplary and combinations andsubcombinations of the different examples may be provided to optimizefor a given application. Conventional robot drives may be combined withlinear transport features, such as provided with a single robot thattransports wafers to all modules or two or more robots where eachtransports wafers to ½ of the modules or, for example, where eachtransports wafers to 2 opposing modules or different modules. Here,different modes of operation may be supported, for example fast swapwith one or more two end effector wafer exchange or single with a oneend effector wafer exchange. Further, parallel wafer transport andexchange may be provided if 2 or more robots are provided. With such anapproach, process module (PM), module, load lock or otherwise may beadded to the end of the tool. Here, footprint depends on robot type andproviding two or more robots may require additional handoffs. In theapproach where a robot drives on linear track, one or more robots may beprovided where each transports wafers to some or all modules. A lineartrack may be provided, for example, a linear drive and slides where thetrack length may be full or partial depending on the arm design. Here, aservice loop may be provided to provide power, communication, andcooling. Alternately, non-contact methods may be provided to providepower, communication, linear guidance, bearing support, propulsion andcooling. Alternately, combinations of contact based and non-contactbased methods may be provided to provide power, communication, linearguidance, bearing support, propulsion and cooling. Similarly, manydifferent modes of operation may be provided, for example, fast swap,single or parallel wafer transport and exchange if two or more robotsare provided. Here, a sealed and cooled robot enclosure (may be pottedand unsealed) may be provided. The linear drive may be any suitabledrive, band, linear motor or otherwise. The service loop may be anysuitable service loop, for example, stainless bellows or otherwise. Withthe approach where the robot has no or a limited function service loop,the robot may still drive on a linear track and the system may supportone or more robots, for example, where each is capable of transport toall of the modules. In this approach, the dominant cooling may be doneby radiation, for example, to a controlled surface. The two surfaces maybe coated, for example, with high emissivity coatings and one or bothsurfaces may be temperature controlled to ensure an acceptable steadystate temperature difference. Similarly, the approach supports differentmodes of operation, fast swap, single or parallel wafer transport andexchange for example, if two or more robots are provided. Here, a lowpower consuming robot drive may be provided with thermal transfer to thehousing or transport chamber. With radiation cooling heat may betransferred to a controlled surface in or of the chamber. With power andcommunication, an exposed conductive loop, inductive, optical, wirelessor other suitable coupling(s) may be provided. The linear drive may beband, linear motor or other suitable motor. The slides may be vacuumcompatible bearing, magnetic bearing or other suitable bearings.

Vacuum robots disclosed herein may be provided within the vacuum chamberof transport platforms and may have features as disclosed in U.S. patentapplication having Ser. No. 13/618,315 entitled “Robot Drive withPassive Rotor” and filed Sep. 14, 2012. Further, vacuum robots may beprovided within the vacuum chamber of a platform and may have featuresas disclosed in U.S. patent application having Ser. No. 13/618,117entitled “Low Variability Robot” and filed Sep. 14, 2012. Further,vacuum robots may be provided within the a vacuum chamber of a platformand may have features as disclosed in U.S. patent application havingSer. No. 13/833,732 entitled “Robot Having Arm With Unequal LinkLengths” and filed Mar. 15, 2013. Further, vacuum robots may be providedwithin the vacuum chamber of a platform and may have features asdisclosed in U.S. patent applications having Ser. No. 14/295,419entitled “Robot and Adaptive Placement System and Method” and filed Jun.4, 2014. Further, vacuum robots may be provided within the vacuumchamber of a platform and may have features as disclosed in U.S. Patentapplications having Ser. No. 61/825,162 entitled “Robot with IndependentArms” and filed May 20, 2013. All of the above referenced applicationsare hereby incorporated by reference herein in their entirety.

Referring to FIG. 1, there is shown a top schematic view of vacuumtransport system 100. System 100 has first and second load locks 110,112 coupled to vacuum transport chamber 114 by isolation valves 116,118. Process modules 120, 122, 124, 126, 128, 130 are further coupled tochamber 114 by valves 132, 134, 136, 138, 140, 142 respectively. Vacuumtransport robot 150 is coupled to chamber 114 to transport substratesbetween the load locks and process modules. Vacuum transport robot isshown having two links or arms 152, 154 and rotatable end effector 156.In alternate aspects, more or less arms and/or end effectors may beprovided. As a further example, the robot drive may be any suitablerobot capable of making compound moves such that the substrate tracksorthogonal to the PM chamber interface. The robot drive may for example,have 2, 3, 4 or 5 rotary axis drive and a z axis drive where the rotaryaxis drive the shoulder, elbow and two independent wrists. Alternately,more or less additional axes and end effectors may be provided, forexample, to support multiple fast swap operations or otherwise. Therobot drive 150 is connected to the controller 163 which comprises atleast one processor 165 and at least one memory 167 having software codefor at least partially controlling movement of the robot 150. Thecontroller 163 as noted above may comprise at least one processor, atleast one memory, and software for performing operations, including atleast partially controlling movement of the robot, as described herein.Any combination of one or more computer readable medium(s) may beutilized as the memory. The computer readable medium may be a computerreadable signal medium or a non-transitory computer readable storagemedium. A non-transitory computer readable storage medium does notinclude propagating signals and may be, for example, but not limited to,an electronic, magnetic, optical, electromagnetic, infrared, orsemiconductor system, apparatus, or device, or any suitable combinationof the foregoing. More specific examples (a non-exhaustive list) of thecomputer readable storage medium would include the following: anelectrical connection having one or more wires, a portable computerdiskette, a hard disk, a random access memory (RAM), a read-only memory(ROM), an erasable programmable read-only memory (EPROM or Flashmemory), an optical fiber, a portable compact disc read-only memory(CD-ROM), an optical storage device, a magnetic storage device, or anysuitable combination of the foregoing.

The disclosed example embodiment may utilize a non-contact (in whole, orpartially in conjunction with both contact and non-contact features),vacuum and clean room compatible transport drive platform providing amodular and configurable transport module that may be utilized across anumber of applications within ultra clean manufacturing without thecontamination associated with conventional linear drives, for example,utilizing slides or otherwise.

In the disclosed example embodiment, a non-contact modular linear drivesystem is provided for a transport platform that may be adapted totransport single substrates, batches of substrates or substratetransporting automation or robotics as shown in FIG. 1. Referring alsoto FIG. 2, there is shown a top view of combined systems 200. Here,linear drive 210 may be utilized to directly transport substrates 212 invacuum or inert atmosphere 214 from tool 216 to tool 218 withoutexposing the substrates to organic contamination or oxide formingatmosphere, for example as seen. Here, left and right substrateprocessing platforms 216, 218 are shown. Each platform has an equipmentfront end module (EFEM) 220, 222 having a mini environment with anatmospheric robot therein, load ports 224 supporting substrate carriers226, load locks 228 coupled to the EFEM with isolation valves, vacuumtransport chambers 230, 232 coupled to the load locks by isolationvalves, vacuum robots 234, 236 in the vacuum transport chambers, processmodules 238 coupled to the transport chamber with isolation valves and acontroller 240. Typically, substrates are processed in each tool in theprocess modules where transport from tool to tool involves transportingthe substrate from the process module, through the transport chamber,load lock, EFEM and into carriers. The carriers are then transportedfrom the load port by an automated material handling system (AMHS) 242to the next tool's load port. The substrates may then be picked from theload port, transported through the EFEM into the load lock, pumped down,and then transported from the load lock to the next process module bythe vacuum robot. This process is time consuming and exposes thesubstrate to atmosphere, for example, causing the growth of native oxideor contamination. As an alternative, a tube 246 may be provided with thedisclosed linear drive transporting substrates or a carrier with anumber of substrates 212 in a vacuum or inert environment 214 directlyfrom the vacuum transport chamber of the first tool 216 to the secondtool 218. This transport arrangement eliminates the additional handlingsteps and also eliminates exposure of the substrates to atmosphere. Theconfigurable drive may further be utilized to directly transportsubstrate handling robotics from process module to process moduleforming a tool level transport platform within a vacuum or inertenvironment, for example as seen in FIG. 1 and by way of furtherexample, as previously disclosed. As will be described, the modularlinear drive system has a non-contact magnetically supported guidancesubsystem, a non-contact magnetically driven forcer subsystem, a movingsupport subsystem and an advanced control subsystem. The linear drivesystem provides a fundamental building block to facilitate particle freesubstrate transport from tool to tool in a vacuum or inert environmenteliminating oxide growth and significantly reducing non-value added timebetween process steps, for example as seen in FIG. 2. The linear drivesystem further provides a fundamental building block to facilitateconfigurable and expandable particle free substrate transport betweenindividual process modules within a vacuum or inert environment, forexample, as seen in FIG. 1. Although the subsystems will be described ingreater detail below, elements or aspects of the subsystems may becombined, for example, with earlier described subsystems or aspects ofthe disclosed embodiment, in any suitable combination.

Referring now to FIG. 3 and FIG. 4, there is shown a cross section of anon-contact magnetically supported guidance subsystem 210. The modularlinear drive system utilizes a non-contact magnetically supportedguidance subsystem. The subsystem has stationary passive opposingmagnetic stainless steel guide rails or stationary supports 310, 312. Asthe guide rails are passive, multiple supports may utilize the same railin an autonomous fashion. In alternate aspects, other guide railarrangements, more or less may be provided and mounted in alternatearrangements, for example, on a wall or floor of the chamber 246.Coupled to the moving support 314 are opposing magnetic bearings 316,318. Each of the opposing magnetic bearings may have six electromagnets320 and six inductive gap sensors 322. In one aspect, three magneticbearings are shown with three additional magnetic bearings spaced therefrom making up six magnetic bearings on each side. In alternate aspects,more or less bearings or gap sensors may be provided. For example,bearing 318 may have two spaced pairs of three magnetic actuators (twospaced pairs of opposing vertical actuators 318″ and two spaced singleactuators 318′) while bearing 316 may have two spaced single horizontalactuators 316′ and a single pair of opposing vertical actuators 316″. Inthis example, four horizontal actuators between the two spaced rails maybe provided to control two degrees of freedom and three pairs ofopposing vertical actuators may be provided to control an additionalthree degrees of freedom. Voltage may be selectively applied by theadvanced control subsystem to the electromagnets to attract a given coil320 to the corresponding magnetic stainless steel guide rail 310, 312.The coils may incorporate ferrous and/or magnetic cores. The inductivegap sensors detect the gap 324 between the electromagnets and thecorresponding magnetic stainless steel guide rail providing positionfeedback to the advanced control subsystem. In alternate aspects, anysuitable gap sensors or position sensors may be provided. The advancedcontrol subsystem maintains a fixed gap 324, 326 between the opposingmagnetic stainless steel guide rails and the opposing magnetic bearingscontrolling five degrees of freedom and allowing the support 314 to beguided along the opposing magnetic stainless steel guide rails 310, 312without contact. In alternate aspects, the gap may be variable, or nogap may be provided, for example, where a gap is provided for a periodand the control subsystem allows for the guided support to becontrollably set down on the guide rails.

The modular linear drive system 210 may utilize a non-contactmagnetically driven forcer subsystem 330, 332. The subsystem 330, 332has two linear motor modules 334, 336 and two position feedback modules338, 340, each corresponding to one of the stationary passive opposingmagnetic stainless steel guide rails 310, 312. Each linear motor modulehas a stationary passive magnetic stainless steel secondary 342, 344shown part of the stationary passive opposing magnetic stainless steelguide rails 310, 312. The stationary passive magnetic stainless steelsecondary may have a toothed portion that interacts with thecorresponding primary forcer and may or may not also have magnets. Aseach secondary is passive, multiple supports may utilize the samesecondary in an autonomous fashion. Each linear motor module has aprimary forcer 334, 336 coupled to the support 314 where the primaryforcer may have three phase windings and permanent magnets. In alternateaspects, permanent magnets may be provided as part of driven member 314for the purpose of offsetting gravity and dynamic loads. In alternateaspects, permanent magnets may be provided as part of one or more of themagnetic bearings for the purpose of offsetting gravity and dynamicloads. An example of a potential primary forcer and secondary topologyis provided with the Siemens 1FN6 Design. In alternate aspects, anysuitable forcer may be provided. The permanent magnets of the forcers334, 336 are provided as a component that both facilitates efficientgeneration of thrust (coupled with windings) and also offsets thepayload such that the magnetic bearings minimize the use of power duringnormal operation. Here, the attractive force between the forcer and thecorresponding passive rail may be set at a nominal gap 324 such that theforce offsets gravity induced forces resulting in minimum powerconsumption. Further, the set point for the gap may be varied such thatas the payload changes, the gap is adjusted such that the force offsetsgravity induced forces resulting in minimum power consumption as thepayload changes. For example, the gap on the left forcer may be variedindependently of that of the right forcer. Voltage is selectivelyapplied by the advanced control subsystem to the magnetic coils of theprimary forcer to produce thrust to the support relative to thestationary passive magnetic stainless steel secondary. Each stationarypassive magnetic stainless steel secondary is mounted with teethoriented vertically down such that the attractive force of the primaryforcer's permanent magnets may offset the weight of the support and thepayload to minimize the DC component that needs to be applied by thevertical coils of the non-contact magnetically supported guidancesubsystem. The subsystem further has an inductive position feedbackdevice 338, 340 that provides, for example, two sine waves in quadraturewith respect to each other and corresponding to the position of theprimary forcer relative to the stationary passive secondary. Inalternate aspects, any suitable position feedback device may be providedwith any suitable output, analog, digital or otherwise. The positionsignal is provided to the advanced control subsystem for positioncontrol and for commutation of the corresponding primary forcer. Anexample of a suitable position feedback device is disclosed in Hosek M.,System and Method for Position Sensing, U.S. patent application Ser. No.13/599,930, Aug. 30, 2012 which is hereby incorporated by referenceherein in its entirety. The advanced control subsystem maintainsposition between the two of the primary forcer and stationary secondaryallowing the support to be selectively driven along the opposingmagnetic stainless steel guide rails without contact.

The modular linear drive system may utilize a thermally managed movingsupport subsystem 314. The moving support serves to house all orportions of the advanced control subsystem. The moving support furtherserves to house or support one or more substrates for transport. Themoving support further serves to house or support a robotic transfer armthat cooperates with the moving support to transport one or moresubstrates between locations. As there are active components coupled tothe moving support, the heat generated by the active components must bedissipated by a thermal management subsystem. For a moving support invacuum, heat may be dissipated either by radiation or by transferthrough a medium, for example through a gas or by coupling a bellows tothe moving support and circulating gas or liquid coolant through achiller. In the event of cooling by radiation alone (or combinationradiation and convection), an allowable temperature difference betweenall or part of the moving portion and the chamber may be specified, forexample, 50 degrees C. or otherwise. Non-contacting interleaving finlike structures 350, 352 may be employed to maximize opposing surfaceareas and high emissivity coatings may be utilized to maximize surfacearea related heat transfer. An example of suitable coating may bealuminum oxide, aluminum nitride or any suitable high emissivitycoating. In alternate aspects, any suitable surface or coating may beprovided. For a moving support in a gas or inert environment, heat maybe dissipated either by radiation or convection or both. As there areactive components coupled to the moving support, power and communicationmust be transferred to the moving support subsystem with a powercoupling 356 and communication coupling 358. Power and communication maybe transferred to the moving support subsystem 314 wirelessly, byinductive coupling, via service loop or a combination of theseapproaches. Here, active components coupled to the support may be pottedwith vacuum compatible potting or epoxy or alternately be hermeticallysealed within an enclosure or a combination of both. Examples ofsuitable moving support thermally sunk subsystems are disclosed in HosekM., Hofmeister C., Low Variability Robot, U.S. patent application Ser.No. 13/618,117, Sep. 14, 2012, which is hereby incorporated by referenceherein in its entirety.

The modular linear drive system may utilize a non-contact power coupling356 and a non-contact communication link 358. The non-contact wirelesspower coupling 356 may be an inductive power coupling having a primarycoil coupled to the vacuum chamber and a secondary coil coupled to themoving support. The secondary may move adjacent the primary as disclosedin Hosek M., Hofmeister C., Low Variability Robot, U.S. patentapplication Ser. No. 13/618,117, Sep. 14, 2012 which is incorporated byreference herein in its entirety. A circuit in the power electronicsrectifies and conditions the power drawn from the secondary.Communication between a controller external to the chamber and the powerelectronics on board the moving support may also be via the inductivepower coupling. Alternately, wireless and optical couplings or anysuitable coupling may be provided.

The modular linear drive system may utilize power electronics 360 onboard the moving support. The power electronics serve as circuitryassociated with the inductive coupling, for example, data transmission,power rectification and conditioning. The power electronics also serveto provide controlled power to the actuators associated with guidanceactuators and linear motors. The power electronics also have appropriateinputs and outputs to monitor transducers, for example, feedbacktransducers, temperature transducers or otherwise. The power electronicsalso have a CPU and memory and other sufficient circuitry to processdata and interface with the external controller, actuators, transducersor otherwise as required.

The modular linear drive system may utilize an advanced controlsubsystem. From a hardware perspective, the platform includes multi axis4 quadrant PWM amplifiers, high speed analog and digital I/O, powersupplies, CPU and memory. Algorithms for real time control may be codedin C++ running on Linux or otherwise. Amplifiers, other I/O and otherperipheral devices may be added over a high speed EtherCat network. Thecontroller platform executes a closed loop control algorithm thatmaintains a fixed gap between the opposing magnetic stainless steelguide rails and the opposing magnetic bearings while selectively drivingthe linear forcers to translate the moving support. The closed loopcontrol algorithm may be a Multi Input Multi Output control dynamicmodel based algorithm and compensates for external disturbances. By wayof example, such external disturbances may be by means of the payloadtransported such as a robotic arm. Here, the controller may control boththe robotic arm as well as the guidance and forcer subsystems.

The modular vacuum compatible non-contact linear drive system mayprovide the following features. One feature may include the eliminationor reduction of particulate generation associated with conventionalrails or linear bearings facilitating cleanliness requirements forsemiconductor manufacturing. Another feature includes providing amodular expandable platform where process capacity of multiple tools maybe integrated on a single platform resulting in footprint reduction andelimination of redundant automation and support subsystems. Anotherfeature includes elimination of moving parts, wear and failuresassociated with conventional rails or linear bearings facilitatingreliability requirements associated with semiconductor manufacturing.Another feature includes elimination of outgassing associated withgrease utilized with conventional rails or linear bearings. Anotherfeature includes where the system supports parallel operation ofmultiple supports and/or robots within the same workspace not possiblewith fixed vacuum robots. Another feature includes compensation for armdeflection not possible with fixed vacuum robots. Another featureincludes the ability to support modular expansion of vacuum transportplatforms. Another feature includes the ability to support direct toolto tool vacuum substrate transport facilitating reduced cycle timeparticularly in a small lot, high mix manufacturing environment. Anotherfeature includes where the technology may be utilized across a broadrange of applications with respect to semiconductors, flat paneldisplays, LED's and solar cell manufacturing and particularly in a smalllot, high mix manufacturing environment.

Referring now to FIG. 5, there is shown a schematic section view ofsystem 510. System 510 has chamber 512 and drive subsystem 314′. Drivesubsystem 314′ may have features as described with respect to system314, 210 or as described herein. Drive subsystem 314′ may be driven by alinear motor having active forcer/primary 514 and passive secondary 516(may or may not have magnets). Drive subsystem 314′ may further haverobot drive 518 and arm 520. Drive subsystem 314′ may be linearlycoupled to chamber 512 by slides 522, 524 where slides 522, 524 may bemagnetic or conventional ball or roller slides or any suitable slide.System 510 has an active cooling system 348 where active cooling system348 transfers heat from active components within drive subsystem 314′ tochamber 512 through non-contact interleaved radiators 526, 528.Interleaved radiators 526, 528 may each have a first portion that iscoupled to and extends the length of the chamber or supporting surfaceand a second portion that is coupled to the moving subsystem 314′. Herethe first portion overlaps the second portion and the second portiontravels along the length of the first portion being shorter than thefirst portion. In the embodiment shown, non-contact interleavedradiators 526, 528 may be electrically insulated from one or both ofchamber 512 and the housing of subsystem 314′ with electrical insulators530, 532, 534, 536 such that non-contact interleaved radiators 526, 528may also act as opposing surfaces of capacitors to facilitate capacitivebased power transfer as will be described with respect to FIG. 8.Although interleaved radiators 526, 528 have an interleaved shape asshown, any suitable shape or opposing surfaces, interleaved or not maybe provided.

Referring now to FIG. 6, there is shown a schematic section view ofsystem 610. System 610 has chamber 612 and drive subsystem 314″. Drivesubsystem 314″ may have features as described with respect to system314′, 314, 210 or as described herein. Drive subsystem 314″ may have twoindependently driven robots 614, 616 that can move linearly with lineardrives 618, 620 and vertically with vertical or Z drives 622, 624 suchthat independently driven robots 614, 616 may avoid each other by movingin the z direction. In alternate aspects, more or less than twoindependently driven robots may be provided with more or less features.For example, a single robot may be provided without a vertical or Zdrive and one or more robots may be provided with a vertical or Z drive.

Referring now to FIG. 7, there is shown a diagram of a contactless powercoupling 356 for a vacuum robot drive unit that provides power from anAC power source 710 in atmosphere 712 to a moving enclosure 714 within avacuum chamber 716 in a non-contact manner. The description may be foreither an inductive or capacitive coupling however other suitablenon-contact power coupling techniques may be provided. The couplingaccepts wide range voltage input into an AC-DC-AC driver circuit 710.The AC-DC-AC driver circuit 710 has a AC-DC converter and may havedriving circuit, for example, a resonant driving circuit connected to avacuum feed through 718. In alternate aspects, any suitable drivingcircuit may be provided. The vacuum side of the feed through isconnected to a stationary primary 720 that is driven by the resonantcircuit driver through the vacuum feed through 718. A moving secondary722 is constrained to move along a linear path within the vacuum chamber716 and tracks the stationary primary 718 picking up power from thestationary primary 718. The moving secondary 722 is sealed to anenclosure and connected to an AC-DC converter 724 within the sealedenclosure. The AC-DC converter 724 may have a driven circuit, forexample, a resonant driven circuit and converts AC supplied by themoving secondary to a regulated DC output 726. In alternate aspects, anysuitable driven circuit may be provided. Referring also to FIG. 8, thereis shown a diagram of a contactless power coupling that utilizescapacitive coupling through radiators 526, 528. Depending on geometryand pressure, the output/voltage level between the primary and secondarymay be driven in a manner for prevention of arcing or discharge from theprimary or other components to ground or other components within thevacuum environment. Higher voltages may be used if the appropriatehermetic insulation with the appropriate dielectric strength is appliedto conductors of the primary and secondary. In the embodiment shown,power is transferred from an AC source 710 to a load 710′ throughcapacitors 526, 528 formed by parallel plates or opposing surfaces, forexample, interleaved radiators or otherwise from a driving ac source 710to a load 710′. In one aspect, the coupling may be a series resonantconverter circuit having driving portion 710 that may be a voltage driveH-bridge or other driver with inductors in series with couplingcapacitors 526, 528 with load 710′ having an AC-DC conversion circuit,for example, a rectifier circuit copled to a load, for example,subsystems within system 314′. In alternate aspects, any suitable driveror driven circuit may be provided.

Referring now to FIG. 9, there is shown a diagram of a contactlessactive cooling system 348. Referring also to FIG. 10, there is shown adiagram of a heat pump 810. Referring also to FIG. 11, there is shown apressure versus heat transfer percentage graph 812. System 348 transfersheat from moving enclosure 816 within vacuum or other environment withinchamber 822 to atmosphere 818. Heat is pumped by heat pump 810 from heatgenerating components 824 to enclosure radiator 826 where enclosureradiator 826 transfers heat to transfer chamber radiator 828 byradiation and/or radiation and convection. Transfer chamber radiator 828transfers heat to atmosphere 818 via convection 832 or otherwise throughchamber 822. With interleaved radiators, the surface areas of the tworadiators are exposed with a favorable view factor for radiation as wellas in close proximity to take advantage of any convection effects thatmay be available. For example, as seen in FIG. 11, as chamber pressure890 decreases, the percent of heat transfer due to convection 892between the interleaved opposing radiators decreases. By way of example,at high vacuum, the amount of heat transfer due to convection approaches0. By way of further example, at roughing pressure of approximately 10mTorr, the amount of heat transfer due to convection may be about 25%.By way of further example, at roughing pressure of approximately 100mTorr, the amount of heat transfer due to convection may be about 50%.The percentage is dependent on surface geometry, proximity of surfaces,pressure, gas species and otherwise. In alternate aspects any suitablegeometries may be used and may have higher or lower percentages.Referring also to FIG. 10, heat pump 810 may be a R134a or other vaporcompression heat pump for the linear vacuum drive unit and providescooling of electronics and other heat dissipating components in a sealedmoving enclosure. Alternately no heat pump may be provided or anysuitable heat pump may be provided, for example, thermoelectric orotherwise. Heat pump 810 may use a sub critical vapor compression cycle.The heat pump pumps heat within a moving enclosure 816 within a vacuumchamber 822 from a plate evaporator 850 to a plate condenser 852 that isthermally sunk to a radiating surface 826 on an exterior of the movingenclosure 816. All of the active components of the heat pump may beenclosed within the enclosure 816 such that any heat generated orinefficiency resulting from the compressor 852, controller 856 orotherwise needs to be pumped in addition to active heat generatingcomponent 824 thermal load.

Referring also to FIG. 12, there is shown a diagram of contactlesscommunication system 358. Contactless communication system 358 for thevacuum robot drive unit provides communication from a controller 912 inatmosphere 914 to and from a moving enclosure 916 within a vacuumchamber 918 in a non-contact manner. Any suitable coupling may beprovided, for example an optical, inductive or capacitive couplinghowever other suitable non-contact communication coupling techniques maybe provided. The coupling accepts wide range voltage input into anEthernet link 920 connected to a vacuum feed through 922. A movingenclosure 916 is constrained to move along a linear path within thevacuum chamber 918. The moving enclosure 916 is sealed with a secondfeed through 924 and has a second Ethernet link 926 within theenclosure. The two links communicate with each other and create a pointto point connection in a contactless manner via Ethernet or EtherCATcontrol network.

Referring to FIG. 13, there is shown a diagram of a contact based powercoupling 1010. Coupling 1010 utilizes conductive bands 1012 (one shown)that are tensioned between pulleys 1014, 1016 that are electricallyisolated from the transfer chamber 1018. Power 1020 is transferred tothe moving enclosure 1022 through the tensioned bands 1012 to contacts1024. Referring also to FIG. 14, there is shown a diagram of a contactbased power coupling 1050. Coupling 1050 utilizes two conductive bands1052, 1054 that are tensioned between two pulleys 1056, 1058 that areelectrically isolated from the transfer chamber 1060. Power istransferred to the moving enclosure 1062 through the two tensioned bands1052, 1054 to contacts 1062, 1064. Each band tensioner 1056, 1058tensions and takes up slack, for example, with a torsional preload, inthe respective band as moving enclosure 1062 is displaced.

Referring now to FIG. 15, there is shown a diagram 1100 of a controlalgorithm for energy efficient balancing of reaction forces inmagnetically levitated system. The control system may utilize thefollowing method to control the devices that balance reaction forces ina magnetically levitated system: The method uses commanded trajectorypoints 1110 calculated periodically by the control system, for instance,at the sampling rate of the control system, which may include thecommanded positions, velocities and accelerations in the joint space,end-effector space, in any combination of thereof, or in any otherconveniently defined coordinate space. Each commanded acceleration pointmay serve as an input to a dynamic model 1112 of the robot, which maycalculate the expected reaction forces 1114 between the robot and theframe (rails), for example, in locations of the magnetic bearings. Theexpected reaction forces may then be transformed 1116 to the commandedbalancing forces 1118 in the locations and directions applicable to thebalancing devices, typically normal to the effective surfaces of thebalancing devices. And, finally, the method may utilize models of thebalancing devices 1120 to convert the commanded balancing forceassociated with each balancing device to the control signal 1122 for thecorresponding balancing device. As an example, the control signal mayrepresent the position of an element in a magnetic circuit of thebalancing device required to achieve the commanded balancing force. Inthis particular example, another open-loop or closed-loop controlalgorithm may be employed to achieve the required position of theelement in the magnetic circuit.

Magnetically levitated systems have features that may be useful inclean, vacuum and harsh environments as they may eliminate the drawbacksof mechanical bearings, including the presence of friction, need forlubrication, generation of particles and sensitivity to aggressiveagents. However, these features may typically achieved at the cost ofincreased energy consumption due to active suspension forces thatconstantly need to counteract gravity effects, which may change duringoperation of a magnetically levitated system, for instance, as thepayload and/or extension of a robotic arm on a magnetically levitatedplatform change. The present embodiment provides a solution forbalancing of such reaction forces that considerably reduces activesuspension forces and, therefore, the energy consumption of amagnetically levitated system.

The present embodiment utilizes passive magnetic forces produced in oneor more carefully designed magnetic circuits with permanent magnets toprovide major components of suspension forces in a magneticallylevitated system, thus reducing the contribution of active suspensionforces and the energy consumption associated with them. By adjustingcertain properties of the magnetic circuits, the passive magnetic forcesmay be controlled to respond to changes in the magnetically levitatedsystem, for example, as the payload and/or extension of a robotic arm ona magnetically levitated platform change. This control may be based on amodel of the magnetically levitated system, on the magnitudes of theactive components of the suspension forces, or on a combination of thetwo methods.

In one embodiment, a first ferromagnetic element may be present on astationary part of a magnetically levitated system and a secondferromagnetic element may be present on a suspended portion of themagnetically levitated system in the vicinity of the first ferromagneticelement. The first and second ferromagnetic elements may be of arectangular shape, wedge shape, or may be of any other suitable formthat results in a substantially uniform gap between the facing surfacesof the first and second ferromagnetic elements. Alternatively, theshapes of the ferromagnetic elements may result in a non-uniform gap.One or more permanent magnets and other ferromagnetic components may beutilized to produce a magnetic circuit with magnetic force acting acrossthe gap between the first and second ferromagnetic elements. Anadditional arrangement may be employed to adjust the gap and/or overlapbetween the first and second ferromagnetic elements, for instance, byshifting or rotating one of the two ferromagnetic elements, thuscontrolling the magnitude of the magnetic force between the twoferromagnetic elements. As an example, a self-locking lead screwmechanism, worm drive or another suitable self-locking arrangement,which does not require energy to remain in a given position, may be usedfor this purpose.

In an alternative embodiment, each magnetic circuit may comprise twopermanent magnets, at least one of which may be moveable, for instance,pivotable, to control the alignment of the poles of the two magnets.When the north and south poles of the two magnets oppose each other, themagnetic fields of the two magnets cancel out and there is no resultantmagnetic force between the stationary part and suspended portion of themagnetically levitated system. When they are aligned, the magnitude ofthe resultant magnetic force is maximized. By adjusting properly thealignment of the two magnets, the magnitude of the resultant magneticforce may be controlled in a continuous manner.

Multiple magnetic circuits based on either embodiment or theircombination may be utilized to balance the effects of gravity forces.For instance, three magnetic circuits may be employed to affect lift,pitch and roll of the system.

The disclosed may use opposing linear motors. In alternate aspects, theuse of magnetic circuits with permanent magnets independent of thelinear motors may be used.

Such magnetic circuits can counteract the dynamic effects of the movingarm by (1) adjusting the size of the gap, (2) adjusting thecross-section of the gap by varying overlap and/or (3) adjustingrelative orientation of a pair of interacting magnets.

Referring now to FIG. 16, there is shown a partial cross section of anon-contact magnetically supported guidance subsystem 1210 that may havefeatures similar to that of system 210 shown in FIG. 4. The subsystemhas stationary passive opposing magnetic stainless steel guide rails1212 (one side shown). As the guide rails are passive, multiple supportsmay utilize the same rail in an autonomous fashion. Coupled to themoving support 1214 are electromagnets and gap sensors 1216. Inalternate aspects, more or less bearings or gap sensors may be provided.Voltage may be selectively applied to attract a given coil to thecorresponding magnetic stainless steel guide rail. The control subsystemmay maintain a fixed or variable gap 1218, 1220 between the opposingmagnetic stainless steel guide rails and the opposing magnetic bearingscontrolling five degrees of freedom and allowing the support 1214 to beguided along the opposing magnetic stainless steel guide rails. Thelinear drive system 1210 utilizes a non-contact magnetically drivenforcer subsystem 1222 that may have linear motor modules having astationary passive magnetic stainless steel secondary 1224 shown part ofthe stationary passive opposing magnetic stainless steel guide rails1212. Each linear motor module has a primary forcer 1222 coupled to thesupport 1214 where the primary forcer may have three phase windings andpermanent magnets that attract forcer 1222 to secondary 1224 as afunction of gap 1218 and may offset loads, for example due to gravity.Here, the gap may be controlled for the magnet to act as a balancingdevice to minimize energy expended. In alternate aspects, permanentmagnets may be provided as any part of driven member 1214 for thepurpose of offsetting gravity and dynamic loads. Here, forcer 1222 isprovided as a component that both facilitates efficient generation ofthrust (coupled with windings) and also offsets the payload such thatthe magnetic bearings minimize the use of power during normal operation.Here, the attractive force between the forcer and the correspondingpassive rail may be set at a nominal gap 1218 or controlled otherwisesuch that the force offsets gravity induced forces resulting in minimumpower consumption. Further, the set point for the gap may be varied suchthat as the payload changes, the gap is adjusted such that the forceoffsets gravity induced forces resulting in minimum power consumption asthe payload changes. For example, the gap on the left forcer may bevaried independently of that of the right forcer. In this manner, thebalancing device may comprise permanent magnets and electromagneticactuators physically coupled to the moving member 1214 and varying a gapbetween the moving member and the rail may minimize the use of power forsupport.

Referring now to FIG. 17, there is shown a partial cross section of anon-contact magnetically supported guidance subsystem 1210′ that mayhave features similar to that of system 1210 shown in FIG. 16. In FIG.17, balancing device 1240, 1242 may comprise a magnet 1244, 1246 that iscontrollably moveable by actuators 1248, 1250 relative to moveablesupport 1214 such that as the magnet is moved closer or further fromrail 1212, the force correspondingly increases or decreases to offsetstatic or dynamic loads that the electric actuators would otherwise haveto support. Here, the permanent magnets and electromagnetic actuatorsare physically coupled to the moving member with the permanent magnetsmoveable relative to the rail and moving member and varying a gapbetween the permanent magnets and the rail facilitates keeping the gap1218, 1220 between the rail and the moving member fixed.

Referring now to FIG. 18, there is shown a partial cross section of anon-contact magnetically supported guidance subsystem 1210″ that mayhave features similar to that of system 1210, 1210′ shown in FIGS. 16and 17. In FIG. 18, balancing device 1260, may comprise a magnet 1262that is controllably moveable by actuator 1264 relative to moveablesupport 1214 such that as the magnet is moved closer or further fromrail 1212 i.e. overlapping the rail, the force correspondingly increasesor decreases to offset static or dynamic loads that the electricactuators would otherwise have to support. Here, the permanent magnetsand electromagnetic actuators are physically coupled to the movingmember with the permanent magnets moveable relative to the rail andmoving member and varying a overlap between the permanent magnets andthe rail facilitates keeping the gap 1218, 1220 between the rail and themoving member fixed.

Referring now to FIG. 19, there is shown a partial cross section of anon-contact magnetically supported guidance subsystem 1210′″ that mayhave features similar to that of system 1210, 1210′, 1210″ shown inFIGS. 16, 17 and 18. In FIG. 19, balancing device 1280, may comprise amagnet 1282 that is controllably moveable by actuator 1284 relative tomoveable support 1214 such that as the magnet is rotated, the fieldbetween magnetic poles 1286, 1288 and rail 1212 is increased ordecreased such that the force correspondingly increases or decreases tooffset static or dynamic loads that the electric actuators wouldotherwise have to support. Here, the permanent magnets andelectromagnetic actuators are physically coupled to the moving memberwith the permanent magnets rotateable relative to the rail and movingmember and varying a field between the permanent magnets and the polesand the rail facilitates keeping the gap 1218, 1220 between the rail andthe moving member fixed. Here, varying the field imparted by thepermanent magnet to the rail with a variable magnetic switch (similar toa switched magnetic base) may offset static or dynamic loads that theelectric actuators would otherwise have to support.

An example embodiment may be provided in an apparatus comprising a firstdevice configured to support at least one substrate thereon; and a firsttransport having the device connected thereto, where the transport isconfigured to carry the device, where the transport comprises: aplurality of supports which are movable relative to one another along alinear path; at least one magnetic bearing which at least partiallycouples the supports to one another, where a first one of the magneticbearings comprises a first permanent magnet and a second magnet, wherethe first permanent magnet is connected to a first one of the supports;and a magnetic field adjuster connected to the first support which isconfigured to move the first permanent magnet and/or vary influence of amagnetic field of the first permanent magnet relative to the secondmagnet.

The device may comprise at least one of an articulate robot and asubstrate shuttle. The supports may comprise at least one stationaryguide rail. The second magnet may be connected to one of the firstsupport and the second support. The second magnet may comprise anelectromagnet or a permanent magnet. The supports may form anon-contacting thermal coupling having interleaved opposing surfacesconfigured to transfer heat to one another by radiation and convectionas a function of pressure. The first support may comprise a firstcapacitive interface; where a second one of the supports comprises asecond capacitive interface, and where the first and second capacitiveinterfaces are sized, shaped and located relative to each other toprovide a non-contacting capacitive power coupling and to allow heattransfer between the first and second capacitive interfaces. The firstsupport may comprise a heat radiator thereon, where the first magneticbearing is a non-contacting bearing, and where the apparatus furthercomprises: a first power coupling between the first support and a secondone of the supports, where the first power coupling is a non-contactingpower coupling; and a first heat pump connected to the first support,where at least one of the first magnetic bearing and the first powercoupling comprise at least one active heat generating component, andwhere the first heat pump is configured to pump heat from the at leastone active heat generating component to the heat radiator. The apparatusmay further comprise a non-contacting communications coupling betweenthe supports. The apparatus may further comprise a second deviceconfigured to support at least one substrate thereon; and a secondtransport having the second device connected thereto, where the secondtransport is configured to carry the second device, where the secondtransport comprises: a plurality of second supports which are movablerelative to one another along a linear path; and at least one secondmagnetic bearing which at least partially couples the second supports,where the transports are configured to move the devices with the devicesat least partially passing over one another. A substrate transportapparatus may be provided comprising a chamber forming an enclosedenvironment; and the apparatus, where a second one of the supports isstationarily on a wall of the chamber.

An example embodiment may be provided in an apparatus comprising adevice configured to support at least one substrate thereon; and atransport having the device connected thereto, where the transport isconfigured to carry the device, where the transport comprises: a firstsupport comprising a first capacitive interface; and a second supportcomprising a second capacitive interface, where the second support ismovably connected to the first support along a linear path, and wherethe first and second capacitive interfaces are sized, shaped and locatedrelative to each other to provide a non-contacting capacitive powercoupling and to allow heat transfer between the first and secondcapacitive interfaces.

The capacitive interfaces may comprise interleaved opposing surfacesconfigured to transfer heat to one another by radiation and convectionas a function of pressure. The apparatus may comprise at least onemagnetic bearing which at least partially couples the first and secondsupports to one another, where a first one of the magnetic bearingscomprises a first permanent magnet and a second magnet, where the firstpermanent magnet is connected to the first support; and a magnetic fieldadjuster connected to the first support which is configured to move thefirst permanent magnet and/or vary influence of a magnetic field of thefirst permanent magnet relative to the second magnet. The second magnetmay be connected to one of the first support and the second support. Thesecond magnet may comprise an electromagnet or a permanent magnet. Thedevice may comprise at least one of an articulate robot and a substrateshuttle. The supports may comprise at least one stationary guide rail.The first support may comprise a heat radiator thereon, where the firstmagnetic bearing is a non-contacting bearing, and where the apparatusfurther comprises: a first power coupling between the first support andthe second support, where the first power coupling is a non-contactingpower coupling; and a first heat pump connected to the first support,where at least one of the first magnetic bearing and the first powercoupling comprise at least one active heat generating component, andwhere the first heat pump is configured to pump heat from the at leastone active heat generating component to the heat radiator. The apparatusmay further comprise a non-contacting communications coupling betweenthe supports. The apparatus may further comprise a second deviceconfigured to support at least one substrate thereon; and a secondtransport having the second device connected thereto, where the secondtransport is configured to carry the second device, where the secondtransport comprises: a plurality of second supports which are movablerelative to one another along a linear path; and at least one secondmagnetic bearing which at least partially couples the second supports,where the transports are configured to move the devices with the devicesat least partially passing over one another. A substrate transportapparatus may be provided comprising: a chamber forming an enclosedenvironment; and the apparatus, where the second support is stationarilyon a wall of the chamber.

An example embodiment may be provided in an apparatus comprising adevice configured to support at least one substrate thereon; and atransport having the device connected thereto, where the transport isconfigured to carry the device, where the transport comprises: aplurality of supports which are movable relative to one another along alinear path, where a first one of the supports comprises a heat radiatorthereon; a first magnetic bearing which at least partially couples thesupports, where the first magnetic bearing is a non-contacting bearing;a first power coupling between the supports, where the first powercoupling is a non-contacting power coupling; and a first heat pumpconnected to the first support, where at least one of the first magneticbearing and the first power coupling comprise at least one active heatgenerating component, and where the first heat pump is configured topump heat from the at least one active heat generating component to theheat radiator. The first heat pump may comprise a vapor compression heatpump or thermoelectric heat pump.

An example method may comprise: coupling a first support to a secondsupport comprising a magnetic bearing, where the first support ismovable relative to the second support along a linear path without thefirst support contacting the second support, where the magnetic bearingcomprises a permanent magnet on the first support; locating a magneticfield adjuster on the first support, where the magnetic field adjusteris configured to move the first permanent magnet and/or vary influenceof a magnetic field of the first permanent magnet relative to a secondmagnet of the magnetic bearing; and connecting a first device to thefirst or second support, where the supports are configured to move thedevice, where the first device is configured to support at least onesubstrate thereon during movement of the first device.

Connecting a first device to the first or second support may comprisethe first device being at least one of an articulate robot and asubstrate shuttle which are mounted onto the first support. The secondsupport may comprise a stationary guide rail, and where the firstsupport is coupled to be longitudinally movable relative to thestationary guide rail. The method may further comprise connecting thesecond magnet to the first or second support, where the second magnetcomprises a permanent magnet and/or an electromagnet. The method mayfurther comprise providing a heat transfer system between the first andsecond supports which forms a non-contacting thermal coupling havingrespective interleaved opposing surfaces on the supports configured totransfer heat to one another by radiation and convection as a functionof pressure. The method may further comprise the first support providinga first capacitive interface; the second support providing a secondcapacitive interface, and the first and second capacitive interfacesbeing located relative to each other to provide a non-contactingcapacitive power coupling and to allow heat transfer between the firstand second capacitive interfaces. The method may further compriseproviding the first support with a heat radiator thereon, where themagnetic bearing is a non-contacting bearing, and where the methodfurther comprises: providing a first power coupling between the firstsupport and the second support, where the first power coupling is anon-contacting power coupling; and providing a first heat pump connectedto the first support, where at least one of the magnetic bearing and thefirst power coupling comprise at least one active heat generatingcomponent, and where the first heat pump is configured to pump heat fromthe at least one active heat generating component to the heat radiator.The method may further comprise providing a non-contactingcommunications coupling between the supports. The method may furthercomprise locating the first and second supports in a chamber, where thechamber is configured to be enclosed to provide an enclosed environmentwithin the chamber. The method may further comprise locating a secondset of supports in the chamber, where the second set of supportscomprise a magnetic bearing, and where the second set of supports arelocated relative to each other for relative movement along a linear pathwithout contacting one another; and connecting a second device to thesecond set of supports, where the supports are configured to move thesecond device, where the second device is configured to support at leastone substrate thereon during movement of the second device; where thesupports are configured to move the devices in the chamber with thedevices at least partially passing over one another. The method mayfurther comprise using the magnetic field adjuster to adjust a gapbetween the first and second supports. Using the magnetic field adjusterto adjust a gap between the first and second supports may be donedynamically while the first support is moving relative to the secondsupport along the linear path. The method may further comprise measuringa distance of the gap during movement of the first support relative tothe second support, and a controller using the measured gap distance tocontrol the magnetic field adjuster.

An example method may comprise: providing a transport comprising: afirst support comprising a first capacitive interface; and a secondsupport comprising a second capacitive interface, where the secondsupport is movably connected to the first support along a linear path,and where the first and second capacitive interfaces are sized, shapedand located relative to each other to provide a non-contactingcapacitive power coupling and to allow heat transfer between the firstand second capacitive interfaces; and connecting a device to thetransport, where the device is configured to support at least onesubstrate thereon while the device is moved by the transport, where thetransport is configured to move the device to thereby move the at leastone substrate. The capacitive interfaces may be interleaved with eachother with opposing surfaces configured to transfer heat to one anotherby radiation and convection as a function of pressure. Providing thetransport may comprise: providing at least one magnetic bearing which atleast partially couples the first and second supports to one another,where a first one of the magnetic bearings comprises a first permanentmagnet and a second magnet, where the first permanent magnet isconnected to the first support; and providing a magnetic field adjusterconnected to the first support which is configured to move the firstpermanent magnet and/or vary influence of a magnetic field of the firstpermanent magnet relative to the second magnet. The second magnet maycomprise an electromagnet or a permanent magnet, where the second magnetis connected to one of the first support and the second support, andwhere the device comprises at least one of an articulate robot and asubstrate shuttle. The method may further comprise providing a firstheat pump connected to the first support, where at least one of a firstmagnetic bearing between the first and second supports and the powercoupling comprise at least one active heat generating component, andwhere the first heat pump is configured to pump heat from the at leastone active heat generating component to the heat radiator. The methodmay further comprise providing a non-contacting communications couplingbetween the supports. The method may further comprise providing a secondtransport comprising: a third support comprising a third capacitiveinterface; and a fourth support comprising a fourth capacitiveinterface, where the fourth support is movably connected to the thirdsupport along a linear path, and where the third and fourth capacitiveinterfaces are sized, shaped and located relative to each other toprovide a non-contacting capacitive power coupling and to allow heattransfer between the third and fourth capacitive interfaces; andconnecting a second device to the second transport, where the seconddevice is configured to support at least one substrate thereon while thesecond device is moved by the second transport, where the secondtransport is configured to move the second device to thereby move the atleast one substrate.

An example embodiment may be provided in a non-transitory programstorage device (such as memory 167 shown in FIG. 1 for example) readableby a machine, tangibly embodying a program of instructions executable bythe machine for performing operations, the operations comprising:determining a distance between a first support and a second support in atransporter, where a first device configured to support at least onesubstrate thereon is connected to the first support, where the supportsare movable relative to one another along a linear path, where the firstand second supports are coupled to each other by a magnetic bearing,where the magnetic bearing comprises a first permanent magnet and asecond magnet, where the first permanent magnet is connected to thefirst support, where the transporter comprises a magnetic field adjusterconnected to the first support which is configured to move the firstpermanent magnet and/or vary influence of a magnetic field of the firstpermanent magnet relative to the second magnet, where the transportercomprises a device connected thereto, and controlling the magnetic fieldadjuster to substantially maintain the distance between the first andsecond supports. The operations may further comprise controlling a heatpump, connected to the first support, to pump heat from the at least oneactive heat generating component on the first support to the heatradiator of the first support.

It should be seen that the foregoing description is only illustrative.Various alternatives and modifications can be devised by those skilledin the art. For example, features recited in the various dependentclaims could be combined with each other in any suitable combination(s).In addition, features from different embodiments described above couldbe selectively combined into a new embodiment. Accordingly, thedescription is intended to embrace all such alternatives, modificationsand variances which fall within the scope of the appended claims.

1-24. (canceled)
 25. An apparatus comprising: a vacuum chamber having afirst environment; a first voltage converter located outside of thevacuum chamber in a second environment; a stationary power transfermember located inside the vacuum chamber and connected to the firstvoltage converter by a feedthrough which extends from the first voltageconverter into the vacuum chamber; an enclosure movably mounted insidethe vacuum chamber for linear movement along the vacuum chamber, wherethe enclosure forms a third environment sealed from the firstenvironment; a movable power transfer member connected to the enclosure,where the movable power transfer member is configured to move with theenclosure when the enclosure is linearly moved along the vacuum chamber,where the movable power transfer member is configured and locatedrelative to the stationary power transfer member to transfer power fromthe stationary power transfer member to the movable power transfermember; a second voltage converter located inside the enclosure, wherethe enclosure seals the second voltage converter from the firstenvironment inside the vacuum chamber; a robot connected to theenclosure, where the robot has at least one movable arm and isconfigured to support at least one substrate thereon, where the robot isat least partially inside the enclosure in the third environment and atleast partially outside of the enclosure in the first environment of thevacuum chamber; where the second voltage converter is connected to atleast one motor of the robot inside the third environment of theenclosure.
 26. The apparatus as claimed in claim 25 where the stationarypower transfer member comprises a first capacitive interface, where themovable power transfer member comprises a second capacitive interface,where the first and second capacitive interfaces are sized, shaped andlocated relative to each other to provide a non-contacting capacitivepower coupling.
 27. The apparatus as claimed in claim 26 where the firstand second capacitive interfaces are sized, shaped and located relativeto each other to allow heat transfer between the first and secondcapacitive interfaces.
 28. The apparatus as claimed in claim 26 wherethe capacitive interfaces comprise interleaved opposing surfacesconfigured to transfer heat to one another by radiation and convectionas a function of pressure.
 29. The apparatus as claimed in claim 25where the apparatus comprises: at least one magnetic bearing which atleast partially couples the enclosure with the vacuum chamber, where afirst one of the magnetic bearings comprises a first permanent magnetand a second magnet, where the first permanent magnet is connected to afirst support; and a magnetic field adjuster connected to the firstsupport which is configured to move the first permanent magnet and/orvary influence of a magnetic field of the first permanent magnetrelative to the second magnet.
 30. The apparatus as claimed in claim 25further comprising: a first data communications link located outside ofthe vacuum chamber in the second environment; a stationarycommunications feedthrough located inside the vacuum chamber andconnected to the first data communications link, where the stationarycommunications feedthrough extends through a wall of the vacuum chamberinto the vacuum chamber; a movable communications feedthrough connectedto the enclosure, where the movable communications feedthrough isconfigured to move with the enclosure when the enclosure is linearlymoved along the vacuum chamber, where the movable communicationsfeedthrough is configured and located relative to the stationarycommunications feedthrough to transfer data signals between thestationary communications feedthrough and the movable communicationsfeedthrough as the enclosure moves in the vacuum chamber, where themovable communications feedthrough does not physically contact thestationary communications feedthrough; a second data communications linklocated inside the enclosure, where the enclosure seals the second datacommunications link from the first environment inside the vacuumchamber; where the second data communications link is connected to atleast one sensor and/or motor controller inside the third environment ofthe enclosure, where the enclosure seals the second data communicationslink from the first environment inside the vacuum chamber.
 31. Anapparatus comprising: a vacuum chamber having a first environment; afirst data communications link located outside of the vacuum chamber ina second environment; a stationary communications feedthrough connectedto a wall of the vacuum chamber, where the stationary communicationsfeedthrough is coupled to the first data communications link; anenclosure movably mounted inside the vacuum chamber for linear movementalong the vacuum chamber, where the enclosure forms a third environmentsealed from the first environment; a movable communications feedthroughconnected to the enclosure, where the movable communications feedthroughis configured to move with the enclosure when the enclosure is linearlymoved along the vacuum chamber, where the movable communicationsfeedthrough does not physically contact the stationary communicationsfeedthrough; a second data communications link located inside theenclosure and coupled to the movable communications feedthrough, wherethe movable communications feedthrough is configured and locatedrelative to the stationary communications feedthrough to allow transferof data signals through the stationary communications feedthrough andthe movable communications feedthrough between the first datacommunications link and the second data communications link as theenclosure moves in the vacuum chamber; a robot connected to theenclosure, where the robot comprises at least one movable arm and isconfigured to support at least one substrate thereon, where the robot isat least partially inside the enclosure in the third environment and atleast partially outside of the enclosure in the first environment of thevacuum chamber; where the second data communications link is coupled toat least one sensor and/or at least one motor controller inside thethird environment of the enclosure, where the enclosure and the movablecommunications feedthrough at least partially seal the second datacommunications link from the first environment inside the vacuumchamber.
 32. The apparatus as claimed in claim 31 further comprising: afirst voltage converter located outside of the vacuum chamber in thesecond environment; a stationary power transfer member located insidethe vacuum chamber and connected to the first voltage converter by afeedthrough which extends through a wall of the vacuum chamber; amovable power transfer member connected to the enclosure, where themovable power transfer member is configured to move with the enclosurewhen the enclosure is moved along the vacuum chamber, where the movablepower transfer member is configured and located relative to thestationary power transfer member to transfer power from the stationarypower transfer member to the movable power transfer member; a secondvoltage converter located inside the enclosure, where the enclosureseals the second voltage converter from the first environment inside thevacuum chamber, where the second voltage converter is connected to atleast one electrical component inside the third environment of theenclosure and sealed from the first environment by the enclosure. 33.The apparatus as claimed in claim 32 where the stationary power transfermember comprises a first capacitive interface, where the movable powertransfer member comprises a second capacitive interface, where the firstand second capacitive interfaces are sized, shaped and located relativeto each other to provide a non-contacting capacitive power coupling. 34.The apparatus as claimed in claim 33 where the first and secondcapacitive interfaces are sized, shaped and located relative to eachother to allow heat transfer between the first and second capacitiveinterfaces.
 35. The apparatus as claimed in claim 33 where thecapacitive interfaces comprise interleaved opposing surfaces configuredto transfer heat to one another by radiation and convection as afunction of pressure.
 36. The apparatus as claimed in claim 31 where theapparatus further comprises: at least one magnetic bearing which atleast partially couples the enclosure with the vacuum chamber, where afirst one of the magnetic bearings comprises a first permanent magnetand a second magnet, where the first permanent magnet is connected to afirst support; and a magnetic field adjuster connected to the firstsupport which is configured to move the first permanent magnet and/orvary influence of a magnetic field of the first permanent magnetrelative to the second magnet.
 37. A method comprising: locating a firstdata communications link outside of a vacuum chamber, where the vacuumchamber is configured to provide a first environment and the first datacommunications link is located in a different second environment outsideof the vacuum chamber; connecting a stationary communicationsfeedthrough to a wall of the vacuum chamber, where the stationarycommunications feedthrough is coupled to the first data communicationslink; movably mounting an enclosure inside the vacuum chamber for linearmovement along the vacuum chamber, where the enclosure is configured toprovide a third environment sealed from the first environment;connecting a movable communications feedthrough to the enclosure, wherethe movable communications feedthrough is configured to move with theenclosure when the enclosure is linearly moved along the vacuum chamber,where the movable communications feedthrough does not physically contactthe stationary communications feedthrough; locating a second datacommunications link inside the enclosure and coupled to the movablecommunications feedthrough, where the movable communications feedthroughis configured and located relative to the stationary communicationsfeedthrough to allow transfer of data signals through the stationarycommunications feedthrough and the movable communications feedthroughbetween the first data communications link and the second datacommunications link as the enclosure moves in the vacuum chamber;connecting a robot to the enclosure, where the robot comprises at leastone movable arm and is configured to support at least one substratethereon, where the robot is at least partially inside the enclosure inthe third environment and at least partially outside of the enclosure inthe first environment of the vacuum chamber; coupling the second datacommunications link to at least one sensor and/or at least one motorcontroller inside the third environment of the enclosure, where theenclosure and the movable communications feedthrough at least partiallyseal the second data communications link from the first environmentinside the vacuum chamber.